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// (C) 2016, 2017 Joshua Allen, MIT/x11 License.
// (C) 2016, 2017 <>< C. N. Lohr, Under MIT/x11 License.
// All OOTX code was written by J. Allen. Rest of the code is probably mostly CNLohr.
#include "survive_cal.h"
#include "survive_internal.h"
#include <math.h>
#include <string.h>
#define PTS_BEFORE_COMMON 32
#define NEEDED_COMMON_POINTS 20
static void handle_calibration( struct SurviveCalData *cd );
static void reset_calibration( struct SurviveCalData * cd );
void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
{
struct SurviveContext * ctx = (struct SurviveContext*)(ct->user);
struct SurviveCalData * cd = ctx->calptr;
int id = ct->user1;
SV_INFO( "Got OOTX packet %d %p\n", id, cd );
lighthouse_info_v6 v6;
init_lighthouse_info_v6(&v6, packet->data);
struct BaseStationData * b = &ctx->bsd[id];
//print_lighthouse_info_v6(&v6);
b->BaseStationID = v6.id;
b->fcalphase[0] = v6.fcal_0_phase;
b->fcalphase[1] = v6.fcal_1_phase;
b->fcaltilt[0] = tan(v6.fcal_0_tilt);
b->fcaltilt[1] = tan(v6.fcal_1_tilt); //XXX??? Is this right? See https://github.com/cnlohr/libsurvive/issues/18
b->fcalcurve[0] = v6.fcal_0_curve;
b->fcalcurve[1] = v6.fcal_1_curve;
b->fcalgibpha[0] = v6.fcal_0_gibphase;
b->fcalgibpha[1] = v6.fcal_1_gibphase;
b->fcalgibmag[0] = v6.fcal_0_gibmag;
b->fcalgibmag[1] = v6.fcal_1_gibmag;
b->OOTXSet = 1;
}
int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length )
{
struct SurviveCalData * cd = ctx->calptr;
switch( cd->stage )
{
case 0:
return snprintf( description, description_length, "Not calibrating" );
case 1:
return snprintf( description, description_length, "Collecting OOTX Data (%d:%d)", cd->ootx_decoders[0].buf_offset, cd->ootx_decoders[1].buf_offset );
case 2:
if( cd->found_common )
{
return snprintf( description, description_length, "Collecting Sweep Data %d/%d", cd->peak_counts, DRPTS );
}
else
{
return snprintf( description, description_length, "Searching for common watchman cal %d/%d", cd->peak_counts, PTS_BEFORE_COMMON );
}
default:
return snprintf( description, description_length, "Unkown calibration state" );
}
}
void survive_cal_install( struct SurviveContext * ctx )
{
int i;
struct SurviveCalData * cd = ctx->calptr = calloc( 1, sizeof( struct SurviveCalData ) );
for( i = 0; i < NUM_LIGHTHOUSES; i++ )
{
ootx_init_decoder_context(&cd->ootx_decoders[i]);
cd->ootx_decoders[i].user = ctx;
cd->ootx_decoders[i].user1 = i;
}
cd->stage = 1;
ootx_packet_clbk = ootx_packet_clbk_d;
ctx->calptr = cd;
}
void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length )
{
struct SurviveContext * ctx = so->ctx;
struct SurviveCalData * cd = ctx->calptr;
if( !cd ) return;
switch( cd->stage )
{
default:
case 0: //Default, inactive.
break;
case 1:
//Collecting OOTX data.
if( sensor_id < 0 )
{
int lhid = -sensor_id-1;
if( lhid < NUM_LIGHTHOUSES && so->codename[0] == 'H' )
{
uint8_t dbit = (acode & 2)>>1;
ootx_pump_bit( &cd->ootx_decoders[lhid], dbit );
}
int i;
for( i = 0; i < NUM_LIGHTHOUSES; i++ )
if( ctx->bsd[i].OOTXSet == 0 ) break;
if( i == NUM_LIGHTHOUSES ) cd->stage = 2; //If all lighthouses have their OOTX set, move on.
}
break;
case 2: //Taking in angle data.
break;
}
}
void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
{
struct SurviveContext * ctx = so->ctx;
struct SurviveCalData * cd = ctx->calptr;
if( !cd ) return;
switch( cd->stage )
{
default:
case 1: //Collecting OOTX data. (Don't do anything here, yet.)
case 0: //Default, inactive.
break;
case 2:
{
int sensid = sensor_id;
if( strcmp( so->codename, "WM0" ) == 0 )
sensid += 32;
if( strcmp( so->codename, "WM1" ) == 1 )
sensid += 64;
int lighthouse = acode>>2;
int axis = acode & 1;
int ct = cd->all_counts[sensid][lighthouse][axis]++;
cd->all_lengths[sensid][lighthouse][axis][ct] = length;
cd->all_angles[sensid][lighthouse][axis][ct] = angle;
if( ct > cd->peak_counts )
{
cd->peak_counts = ct;
if( ct >= DRPTS )
handle_calibration( cd ); //This will also reset all cals.
}
//TODO: Determine if there is a sensor on a watchman visible from both lighthouses.
if( sensid >= 32 && !cd->found_common )
{
int k;
int ok = 1;
for( k = 0; k < NUM_LIGHTHOUSES; k++ )
{
if( cd->all_counts[sensid][k][0] < NEEDED_COMMON_POINTS || cd->all_counts[sensid][k][1] < NEEDED_COMMON_POINTS )
{
ok = 0;
break;
}
}
if( ok ) cd->found_common = 1;
}
if( cd->peak_counts > PTS_BEFORE_COMMON && !cd->found_common )
{
reset_calibration( cd );
}
break;
}
}
}
static void reset_calibration( struct SurviveCalData * cd )
{
memset( cd->all_counts, 0, sizeof( cd->all_counts ) );
cd->peak_counts = 0;
cd->found_common = 0;
}
static void handle_calibration( struct SurviveCalData *cd )
{
//Do stuff.
reset_calibration( cd );
}
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